Class LoopClosureVisualizer¶
Defined in File loop-closure-visualizer.h
Class Documentation¶
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class loop_closure_visualization::LoopClosureVisualizer¶
Public Types
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typedef std::unordered_map<vi_map::LandmarkId, vi_map::LandmarkId> LandmarkToLandmarkMap¶
Public Functions
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LoopClosureVisualizer()¶
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virtual ~LoopClosureVisualizer()¶
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void visualizeMergedLandmarks(const loop_closure_handler::LoopClosureHandler::MergedLandmark3dPositionVector &landmark_pairs_merged)¶
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void visualizeKeyframeToStructureMatches(const vi_map::LoopClosureConstraintVector &inlier_constraints, const vi_map::LoopClosureConstraintVector &all_constraints, const LandmarkToLandmarkMap &merged_landmark_map, const vi_map::VIMap &map)¶
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void visualizeKeyframeToStructureMatch(const vi_map::VertexKeyPointToStructureMatchList &structure_matches, const Eigen::Vector3d &query_position, const summary_map::LocalizationSummaryMap &localization_summary_map)¶
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void visualizeSummaryMapDatabase(const summary_map::LocalizationSummaryMap &localization_summary_map)¶
Public Members
- LoopClosureVisualizer
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typedef std::unordered_map<vi_map::LandmarkId, vi_map::LandmarkId> LandmarkToLandmarkMap¶